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<div class="header">
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<div class="title">usc.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_USC_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_USC_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::UniqueShapeContext1960, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html">   64</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_unique_shape_context.html">UniqueShapeContext</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                             <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames</a>&lt;PointInT, PointRFT&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::fake_surface_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::searchForNeighbors</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;UniqueShapeContext&lt;PointInT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;const UniqueShapeContext&lt;PointInT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a053dea4f2b851991fcd236fa41a7d05e">   86</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a053dea4f2b851991fcd236fa41a7d05e">UniqueShapeContext</a> () :</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_unique_shape_context.html#ac6e8d07456d37e2ff4e88aaf3c1f2141">radii_interval_</a>(0), <a class="code" href="classpcl_1_1_unique_shape_context.html#a720dbf467c1c8be85f9ac707b1d5889a">theta_divisions_</a>(0), <a class="code" href="classpcl_1_1_unique_shape_context.html#a8d3cc090c10f7a75171a77a06e6a5fef">phi_divisions_</a>(0), <a class="code" href="classpcl_1_1_unique_shape_context.html#ac5a52559aa762fc0cde42d2989c5d4b7">volume_lut_</a>(0),</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_unique_shape_context.html#aea9acba56105ccda12badf8536444d09">azimuth_bins_</a>(14), <a class="code" href="classpcl_1_1_unique_shape_context.html#a345c4d7a105ea3229d736e4bd792623f">elevation_bins_</a>(14), <a class="code" href="classpcl_1_1_unique_shape_context.html#a0fadd26b544e7e7eea66091c9379c559">radius_bins_</a>(10),</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">min_radius_</a>(0.1), <a class="code" href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">point_density_radius_</a>(0.1), <a class="code" href="classpcl_1_1_unique_shape_context.html#a5ca6970f159e4d29b022b1bfe0bf5469">descriptor_length_</a> (), <a class="code" href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">local_radius_</a> (2.0)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;UniqueShapeContext&quot;</span>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 2.0;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_unique_shape_context.html">UniqueShapeContext</a>() { }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a56c629a9bb1bf33b383cf6f1809fde0a">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a56c629a9bb1bf33b383cf6f1809fde0a">getAzimuthBins</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#aea9acba56105ccda12badf8536444d09">azimuth_bins_</a>); }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a014d9c05ed8605733e2f44adff291fb1">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a014d9c05ed8605733e2f44adff291fb1">getElevationBins</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#a345c4d7a105ea3229d736e4bd792623f">elevation_bins_</a>); }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a041cbe9e15cb3ffbaada2ad0bbe4e324">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a041cbe9e15cb3ffbaada2ad0bbe4e324">getRadiusBins</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#a0fadd26b544e7e7eea66091c9379c559">radius_bins_</a>); }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a58751aa29c8a4e9c2fdcdc4a549bfff3">  113</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a58751aa29c8a4e9c2fdcdc4a549bfff3">setMinimalRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">min_radius_</a> = radius; }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a97c03bf161e0d6372f582e4173e82d11">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a97c03bf161e0d6372f582e4173e82d11">getMinimalRadius</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">min_radius_</a>); }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a002fbd41827bc051df96da0be6095222">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a002fbd41827bc051df96da0be6095222">setPointDensityRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">point_density_radius_</a> = radius; }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a5015de35d9a5bbd650458741c7be71a0">  128</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a5015de35d9a5bbd650458741c7be71a0">getPointDensityRadius</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">point_density_radius_</a>); }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#afd3c6f85c7b52f9438d240a9f4697dc3">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#afd3c6f85c7b52f9438d240a9f4697dc3">setLocalRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">local_radius_</a> = radius; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a9b15940755038f7cc0beb405f15342fb">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a9b15940755038f7cc0beb405f15342fb">getLocalRadius</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">local_radius_</a>); }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#ab5cd51ff012bfad34ca7f74977f5cf86">computePointDescriptor</a> (<span class="keywordtype">size_t</span> index, std::vector&lt;float&gt; &amp;desc);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a796f133e893459c171024ea50101c786">initCompute</a> ();</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="classpcl_1_1_unique_shape_context.html#a9a4d0500f7e426112efe1b56d8fbbb93">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#ac6e8d07456d37e2ff4e88aaf3c1f2141">  159</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_unique_shape_context.html#ac6e8d07456d37e2ff4e88aaf3c1f2141">radii_interval_</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a720dbf467c1c8be85f9ac707b1d5889a">  162</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_unique_shape_context.html#a720dbf467c1c8be85f9ac707b1d5889a">theta_divisions_</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a8d3cc090c10f7a75171a77a06e6a5fef">  165</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_unique_shape_context.html#a8d3cc090c10f7a75171a77a06e6a5fef">phi_divisions_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#ac5a52559aa762fc0cde42d2989c5d4b7">  168</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_unique_shape_context.html#ac5a52559aa762fc0cde42d2989c5d4b7">volume_lut_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#aea9acba56105ccda12badf8536444d09">  171</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#aea9acba56105ccda12badf8536444d09">azimuth_bins_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a345c4d7a105ea3229d736e4bd792623f">  174</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#a345c4d7a105ea3229d736e4bd792623f">elevation_bins_</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a0fadd26b544e7e7eea66091c9379c559">  177</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#a0fadd26b544e7e7eea66091c9379c559">radius_bins_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">  180</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">min_radius_</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">  183</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">point_density_radius_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#a5ca6970f159e4d29b022b1bfe0bf5469">  186</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#a5ca6970f159e4d29b022b1bfe0bf5469">descriptor_length_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">  189</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">local_radius_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  };</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/usc.hpp&gt;</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_USC_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature&lt; PointInT, pcl::UniqueShapeContext1960 &gt;::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature&lt; PointInT, pcl::UniqueShapeContext1960 &gt;::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html">pcl::UniqueShapeContext</a></div><div class="ttdoc">UniqueShapeContext implements the Unique Shape Context Descriptor described here:</div><div class="ttdef"><b>Definition:</b> usc.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a002fbd41827bc051df96da0be6095222"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a002fbd41827bc051df96da0be6095222">pcl::UniqueShapeContext::setPointDensityRadius</a></div><div class="ttdeci">void setPointDensityRadius(double radius)</div><div class="ttdef"><b>Definition:</b> usc.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a014d9c05ed8605733e2f44adff291fb1"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a014d9c05ed8605733e2f44adff291fb1">pcl::UniqueShapeContext::getElevationBins</a></div><div class="ttdeci">size_t getElevationBins() const</div><div class="ttdef"><b>Definition:</b> usc.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a041cbe9e15cb3ffbaada2ad0bbe4e324"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a041cbe9e15cb3ffbaada2ad0bbe4e324">pcl::UniqueShapeContext::getRadiusBins</a></div><div class="ttdeci">size_t getRadiusBins() const</div><div class="ttdef"><b>Definition:</b> usc.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a053dea4f2b851991fcd236fa41a7d05e"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a053dea4f2b851991fcd236fa41a7d05e">pcl::UniqueShapeContext::UniqueShapeContext</a></div><div class="ttdeci">UniqueShapeContext()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> usc.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a0fadd26b544e7e7eea66091c9379c559"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a0fadd26b544e7e7eea66091c9379c559">pcl::UniqueShapeContext::radius_bins_</a></div><div class="ttdeci">size_t radius_bins_</div><div class="ttdoc">Bins along the radius dimension.</div><div class="ttdef"><b>Definition:</b> usc.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a345c4d7a105ea3229d736e4bd792623f"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a345c4d7a105ea3229d736e4bd792623f">pcl::UniqueShapeContext::elevation_bins_</a></div><div class="ttdeci">size_t elevation_bins_</div><div class="ttdoc">Bins along the elevation dimension.</div><div class="ttdef"><b>Definition:</b> usc.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a5015de35d9a5bbd650458741c7be71a0"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a5015de35d9a5bbd650458741c7be71a0">pcl::UniqueShapeContext::getPointDensityRadius</a></div><div class="ttdeci">double getPointDensityRadius() const</div><div class="ttdef"><b>Definition:</b> usc.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a56c629a9bb1bf33b383cf6f1809fde0a"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a56c629a9bb1bf33b383cf6f1809fde0a">pcl::UniqueShapeContext::getAzimuthBins</a></div><div class="ttdeci">size_t getAzimuthBins() const</div><div class="ttdef"><b>Definition:</b> usc.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a58751aa29c8a4e9c2fdcdc4a549bfff3"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a58751aa29c8a4e9c2fdcdc4a549bfff3">pcl::UniqueShapeContext::setMinimalRadius</a></div><div class="ttdeci">void setMinimalRadius(double radius)</div><div class="ttdef"><b>Definition:</b> usc.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a5ca6970f159e4d29b022b1bfe0bf5469"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a5ca6970f159e4d29b022b1bfe0bf5469">pcl::UniqueShapeContext::descriptor_length_</a></div><div class="ttdeci">size_t descriptor_length_</div><div class="ttdoc">Descriptor length.</div><div class="ttdef"><b>Definition:</b> usc.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a6628a0656f01338c94f7ba0e6617666f"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a6628a0656f01338c94f7ba0e6617666f">pcl::UniqueShapeContext::point_density_radius_</a></div><div class="ttdeci">double point_density_radius_</div><div class="ttdoc">Point density radius.</div><div class="ttdef"><b>Definition:</b> usc.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a720dbf467c1c8be85f9ac707b1d5889a"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a720dbf467c1c8be85f9ac707b1d5889a">pcl::UniqueShapeContext::theta_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; theta_divisions_</div><div class="ttdoc">Theta divisions interval.</div><div class="ttdef"><b>Definition:</b> usc.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a796f133e893459c171024ea50101c786"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a796f133e893459c171024ea50101c786">pcl::UniqueShapeContext::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">Initialize computation by allocating all the intervals and the volume lookup table.</div><div class="ttdef"><b>Definition:</b> usc.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a8d3cc090c10f7a75171a77a06e6a5fef"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a8d3cc090c10f7a75171a77a06e6a5fef">pcl::UniqueShapeContext::phi_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; phi_divisions_</div><div class="ttdoc">Phi divisions interval.</div><div class="ttdef"><b>Definition:</b> usc.h:165</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a97c03bf161e0d6372f582e4173e82d11"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a97c03bf161e0d6372f582e4173e82d11">pcl::UniqueShapeContext::getMinimalRadius</a></div><div class="ttdeci">double getMinimalRadius() const</div><div class="ttdef"><b>Definition:</b> usc.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a9a4d0500f7e426112efe1b56d8fbbb93"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a9a4d0500f7e426112efe1b56d8fbbb93">pcl::UniqueShapeContext::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">The actual feature computation.</div><div class="ttdef"><b>Definition:</b> usc.hpp:247</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_a9b15940755038f7cc0beb405f15342fb"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#a9b15940755038f7cc0beb405f15342fb">pcl::UniqueShapeContext::getLocalRadius</a></div><div class="ttdeci">double getLocalRadius() const</div><div class="ttdef"><b>Definition:</b> usc.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_aa940a6d7645e6b03531859f2a5d28059"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#aa940a6d7645e6b03531859f2a5d28059">pcl::UniqueShapeContext::local_radius_</a></div><div class="ttdeci">double local_radius_</div><div class="ttdoc">Radius to compute local RF.</div><div class="ttdef"><b>Definition:</b> usc.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_ab5cd51ff012bfad34ca7f74977f5cf86"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#ab5cd51ff012bfad34ca7f74977f5cf86">pcl::UniqueShapeContext::computePointDescriptor</a></div><div class="ttdeci">void computePointDescriptor(size_t index, std::vector&lt; float &gt; &amp;desc)</div><div class="ttdef"><b>Definition:</b> usc.hpp:144</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_ac5a52559aa762fc0cde42d2989c5d4b7"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#ac5a52559aa762fc0cde42d2989c5d4b7">pcl::UniqueShapeContext::volume_lut_</a></div><div class="ttdeci">std::vector&lt; float &gt; volume_lut_</div><div class="ttdoc">Volumes look up table.</div><div class="ttdef"><b>Definition:</b> usc.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_ac6e8d07456d37e2ff4e88aaf3c1f2141"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#ac6e8d07456d37e2ff4e88aaf3c1f2141">pcl::UniqueShapeContext::radii_interval_</a></div><div class="ttdeci">std::vector&lt; float &gt; radii_interval_</div><div class="ttdoc">values of the radii interval.</div><div class="ttdef"><b>Definition:</b> usc.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_ad5ea3fbe4977141d98452f458b0e0e95"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#ad5ea3fbe4977141d98452f458b0e0e95">pcl::UniqueShapeContext::min_radius_</a></div><div class="ttdeci">double min_radius_</div><div class="ttdoc">Minimal radius value.</div><div class="ttdef"><b>Definition:</b> usc.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_aea9acba56105ccda12badf8536444d09"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#aea9acba56105ccda12badf8536444d09">pcl::UniqueShapeContext::azimuth_bins_</a></div><div class="ttdeci">size_t azimuth_bins_</div><div class="ttdoc">Bins along the azimuth dimension.</div><div class="ttdef"><b>Definition:</b> usc.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1_unique_shape_context_html_afd3c6f85c7b52f9438d240a9f4697dc3"><div class="ttname"><a href="classpcl_1_1_unique_shape_context.html#afd3c6f85c7b52f9438d240a9f4697dc3">pcl::UniqueShapeContext::setLocalRadius</a></div><div class="ttdeci">void setLocalRadius(double radius)</div><div class="ttdef"><b>Definition:</b> usc.h:134</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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